JP2018142154A - Autonomous travel device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous travel device capable of accurately creating an environment map.SOLUTION: An autonomous travel device 10 includes a map creation part for creating an environment map by using a detection result of a distance measurement sensor for outputting and receiving light. The map creation part determines that a mirror 110 exists in a detection object area, when a detection value of the distance measurement sensor is equal to or more than a first threshold in a state where the output direction of light of the distance measurement sensor is approximately orthogonal to the direction of travel of the autonomous travel device 10 in a planar view of the autonomous travel device 10.SELECTED DRAWING: Figure 17

Description

  The present invention relates to an autonomous traveling device.

  2. Description of the Related Art As an environment map creation device that creates an environment map using optical means, an environment map creation device including a laser range finder is well known. Patent document 1 is disclosing an example of the autonomous traveling type vacuum cleaner containing the conventional environmental map production apparatus.

JP 2014-6833 A

  Since the incident angle and the reflection angle of the light irradiated to the mirror are equal, the laser range finder is positioned at a specific position, even if the mirror is within the measurement range of the laser range finder. The laser range finder cannot detect its presence.

  The autonomous traveling device according to the present invention is an autonomous traveling device including a map creating unit that creates an environmental map using a detection result of a first detection unit that outputs and receives light, and the map creating unit includes the autonomous traveling Detected when the detection value of the first detection unit is equal to or greater than a first threshold in a plan view of the device in a state where the light output direction of the first detection unit is substantially perpendicular to the traveling direction of the autonomous traveling device. It is determined that a specular reflection surface exists in the target area.

  The autonomous traveling device can accurately create an environmental map.

The top view of the autonomous traveling apparatus of embodiment. The bottom view of the autonomous traveling apparatus of FIG. The side view of an autonomous running unit. The block diagram of the autonomous running apparatus of FIG. The flowchart regarding preparation control. The flowchart regarding the basic process of creation control. The flowchart regarding the update process of creation control. The schematic diagram which shows the 1st operation state of an autonomous traveling apparatus. The schematic diagram which shows the 2nd operation state of an autonomous traveling apparatus. The schematic diagram which shows the 3rd operation state of an autonomous traveling apparatus. The schematic diagram which shows the 4th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 5th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 6th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 7th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 8th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 9th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 10th operation state of an autonomous traveling apparatus. The schematic diagram which shows the 11th operation state of an autonomous traveling apparatus. The schematic diagram which shows an example of the cleaning operation | movement of an autonomous running apparatus. The flowchart regarding a holding process. The side view of the autonomous traveling unit of a modification.

(An example of a form that the autonomous mobile device can take)
(1) The autonomous traveling device according to the present invention is an autonomous traveling device including a map creating unit that creates an environmental map using a detection result of a first detection unit that outputs and receives light, and the map creating unit includes: In a plan view of the autonomous traveling device, the detection value of the first detection unit is equal to or greater than a first threshold in a state where the light output direction of the first detection unit is substantially perpendicular to the traveling direction of the autonomous traveling device. At this time, it is determined that a specular reflection surface exists in the detection target region.
Since the first detection unit can receive light when the output direction of the first detection unit is substantially perpendicular to the traveling direction of the autonomous traveling device, the first detection unit can receive light. When the specular reflection surface exists in the detection target region, the specular reflection surface can be detected. Therefore, an environmental map can be created accurately.

  (2) According to an example of the autonomous traveling device, the map creation unit detects the first detection unit when the traveling direction and the output direction are not substantially perpendicular in a plan view of the autonomous traveling device. When the value is less than the first threshold, it is determined that the detection target area of the first detection unit is a blank area or a specular reflection surface.

(3) According to an example of the autonomous mobile device, the map creation unit creates the environment map using the detection result of the first detection unit and the detection result of the second detection unit that outputs and receives sound waves. And a detection target common to the first detection unit and the second detection unit when the detection value of the first detection unit is less than a first threshold value and the detection value of the second detection unit is less than a second threshold value. It is determined that the area is a blank area.
Since it is determined that there is no object including the specular reflection surface in the detection target region based on each detection result, the accuracy of the environment map is further improved.

(4) According to an example of the autonomous traveling device, the map creating unit detects the first detection unit in a state where the traveling direction and the output direction are substantially perpendicular to each other in plan view of the autonomous traveling device. When the value is equal to or greater than a third threshold value greater than the first threshold value, it is determined that the specular reflection surface is present in the detection target region. When the value is equal to or greater than the first threshold value and less than the third threshold value, diffusion is performed in the detection target region. It is determined that there is a reflecting surface.
Thereby, the property of the wall surface can be detected in more detail based on the magnitude of the detection value of the first detection unit in a state where the traveling direction of the autonomous traveling device and the light output direction of the first detection unit are substantially perpendicular. Therefore, an environmental map can be created accurately.

(5) According to an example of the autonomous traveling device, the vehicle further includes a cleaning unit.
Since the autonomous traveling device travels according to the environment map accurately created by the environment map creation device, the target area can be cleaned cleanly.

(Embodiment)
The configuration of the autonomous traveling unit 1 will be described with reference to FIGS. The autonomous traveling unit 1 includes an autonomous traveling device 10 (see FIG. 1) and a fence 100 (see FIG. 3). The autonomous traveling device 10 is a robot type vacuum cleaner that autonomously travels on the floor surface of the area to be cleaned and sucks in dust that exists on the floor surface.

  FIG. 3 is an example of the fence 100. The fence 100 is used to define the movement range of the autonomous mobile device 10. When the fence 100 is set in a place where there is no object that restricts the movement range of the autonomous traveling device 10 such as a wall, the autonomous traveling device 10 recognizes the fence 100 in the same manner as the wall and collides with the fence 100. Do not drive. In one example, the fence 100 is used as follows. When it is desired to set only the inside of a specific room that does not have a door that closes the doorway as the cleaning target area of the autonomous mobile device 10, the fence 100 is installed at the doorway. In this case, a closed area is formed by the wall of the specific room and the fence 100. For this reason, the autonomous traveling device 10 can travel only in a specific room as a cleaning target area.

  The fence 100 includes a base 101 and a wall 102. The base 101 is installed on the floor. The height of the fence 100 is higher than the height of the autonomous mobile device 10. The height of the fence 100 is a difference between the position of the bottom surface of the base 101 and the position of the top surface of the wall 102. The height of the autonomous traveling device 10 is the difference between the position of the ground contact surface with the floor surface of the drive wheels 31 and the position of the highest portion of the body 20.

  The base 101 is made of an arbitrary material. One example thereof is a material that does not transmit light or a material that transmits light. An example of a material that does not have translucency is a resin material such as polyethylene terephthalate, polycarbonate resin, or polyacetal resin, or a metal material such as aluminum. An example of a light-transmitting material is acrylic resin and glass. The wall 102 is provided on the base 101. The wall 102 includes a light transmissive material 103. The light transmitting material 103 is made of a light-transmitting resin. In a preferred example, the entire wall 102 is composed of the light transmissive material 103. FIG. 3 shows a preferred example of the wall 102.

  The autonomous traveling device 10 shown in FIGS. 1 and 2 includes a body 20, a pair of traveling units 30, a cleaning unit 40, a suction unit 50, a trash box 60, a sensor unit 70, a control unit 80, and a power supply unit (not shown). Prepare. The body 20 accommodates a traveling unit 30, a cleaning unit 40, a suction unit 50, a trash box 60, a sensor unit 70, a control unit 80, and a power supply unit. The traveling unit 30 causes the body 20 to travel. The cleaning unit 40 scrapes up dust below the body 20. The suction unit 50 sucks the dust scraped up by the cleaning unit 40 into the body 20. The trash box 60 stores the trash sucked by the suction unit 50. The sensor unit 70 includes a plurality of sensors. The plurality of sensors output detected values that are detected signals to the control unit 80. The control unit 80 controls the operation of each unit 30, 40, 50, 70. The power supply unit supplies power to each unit 30, 40, 50, 70, 80.

  The body 20 has a planar shape suitable for cleaning. An example of the planar shape of the body 20 is a Rouleau triangle, a polygon having approximately the same shape as the triangle, a shape in which an R surface is formed on the top of these triangles or polygons, a circle, a shape similar to a circle, a rectangle Or a shape similar to a square. The planar shape of the body 20 shown in FIGS. 1 and 2 is an example of a shape in which an R surface is formed on the top of the triangle or polygon.

  As shown in FIG. 2, the body 20 includes a suction port 21. The suction port 21 opens in the bottom surface 22 of the body 20 so that dust existing below the body 20 can be sucked into the body 20. In the body 20, a duct (not shown) that communicates the suction port 21 and the trash can 60 is provided.

  As shown in FIGS. 2 and 4, the cleaning unit 40 includes a main brush 41, a side brush 42, a first drive motor 43, and a second drive motor 44. The first drive motor 43 rotates the main brush 41. The second drive motor 44 rotates the side brush 42. The main brush 41 is disposed in the suction port 21. As the main brush 41 rotates, dust below the body 20 is scraped up. The side brush 42 is provided on the side of the main brush 41. As the side brush 42 rotates, dust on the floor surface around the body 20 is guided to the suction port 21 and the main brush 41.

  The suction unit 50 is provided on the side opposite to the main brush 41 with respect to the trash box 60. The suction unit 50 includes an electric fan 51. The electric fan 51 sucks the air in the trash box 60. When the electric fan 51 is driven, the dust scraped up from the main brush 41 passes through the duct and moves into the dust box 60.

  The traveling unit 30 includes driving wheels 31 and a traveling motor 32. The traveling motor 32 is coupled to the shaft of the drive wheel 31 so that torque can be transmitted to the drive wheel 31. When the traveling motor 32 is driven, the driving wheel 31 rotates with respect to the body 20, and the autonomous traveling device 10 travels on the floor surface. The autonomous traveling device 10 further includes a caster 23. The caster 23 is provided at a rear portion of the bottom surface of the body 20.

  The sensor unit 70 includes an obstacle detection sensor 71, a distance measurement sensor 72, and a direction detection sensor 73. The obstacle detection sensor 71 is an example of a second detection unit. The distance measurement sensor 72 is an example of a first detection unit. The number of obstacle detection sensors 71, distance measurement sensors 72, and direction detection sensors 73 is arbitrary. FIG. 1 shows an example in which three obstacle detection sensors 71, one distance measurement sensor 72, and one direction detection sensor 73 are provided on the body 20.

  Each obstacle detection sensor 71 is provided in the body 20 so as to be able to detect an object existing in front and side of the body 20. The first obstacle detection sensor 71 is provided on the front surface of the body 20. The second obstacle detection sensor 71 is provided in a portion of the body 20 that is diagonally forward right. The third obstacle detection sensor 71 is provided at a portion of the body 20 that is diagonally forward left. An example of the obstacle detection sensor 71 is an ultrasonic sensor. The ultrasonic sensor includes an output unit that outputs a sound wave and a reception unit that receives the reflected sound wave (all not shown). The detection target area, which is a measurement range in which the obstacle detection sensor 71 can appropriately detect an object, is, for example, a range straight ahead from the obstacle detection sensor 71 by a reference distance. An example of the reference distance is 20 cm. The obstacle detection sensor 71 converts the sound wave received by the receiving unit into a voltage, and acquires the converted voltage value as a detection value. The voltage value obtained by converting the sound wave received by the receiving unit increases as the intensity of the sound wave received by the receiving unit increases.

  The distance measuring sensor 72 is provided on the body 20 so as to detect an object existing around the entire body 20. An example of the distance measuring sensor 72 is a laser range finder. The laser range finder includes an output unit that outputs light and a reception unit that receives reflected light (none of which is shown). In a preferred example, the distance measuring sensor 72 is provided at the center and top of the body 20 in plan view. The output part of the distance measuring sensor 72 is rotatable with respect to the body 20 about an axis perpendicular to the floor surface. The detection target region, which is the measurement range of the distance measuring sensor 72, is mainly determined by the angular range in which the output unit rotates around an axis perpendicular to the floor surface, and the radius of a circle or fan centered on the axis. This radius is the distance reached by light having an intensity suitable for detecting an object. An example of an angle range in which the output unit rotates is 360 °. An example of a circle or fan radius is 200 cm. The distance measuring sensor 72 converts the light received by the receiving unit into a voltage, and acquires the converted voltage value as a detection value. The voltage value obtained by converting the light received by the receiving unit increases as the intensity of the light received by the receiving unit increases.

  The direction detection sensor 73 is provided on the body 20 so that the direction of the autonomous traveling device 10 can be detected. In one example, the direction detection sensor 73 detects an angle formed by the surface direction of the wall surface around the body 20 with respect to the direction from the center of the body 20 toward the rear portion. An example of the direction detection sensor 73 is a gyro sensor. The direction detection sensor 73 is provided in the center of the body 20 and inside the body 20 in plan view.

  The control unit 80 includes a control unit 81 and an environment map creation device 82. The environmental map creation device 82 includes a map creation unit 83 and a storage unit 84. The control unit 81 and the map creation unit 83 include a semiconductor integrated circuit such as a CPU (Central Processing Unit). The control unit 81 controls the autonomous traveling device 10 based on a signal input from an operation unit (not shown) and a control program. An example of the operation unit is an operation panel provided in the autonomous traveling device 10 or a remote controller corresponding to the autonomous traveling device 10. The map creation unit 83 creates an environment map using the detection result of the obstacle detection sensor 71 and the detection result of the distance measurement sensor 72. An example of an environmental map creation method is SLAM (Simultaneous Localization and Mapping). The storage unit 84 includes a nonvolatile semiconductor storage element such as a flash memory. The storage unit 84 stores various information related to the control of the autonomous mobile device 10, the environment map created by the map creation unit 83, and the like. Various types of information are a control program executed by the control unit 81 and parameters referred to in the program.

  The control unit 80 executes map creation control for creating an environmental map. The map creation control includes preparation control (see FIG. 5) and creation control (see FIGS. 6 and 7). The preparation control is executed to set the reference position of the autonomous mobile device 10. The creation control is executed after the creation preparation control is completed in order to create an environment map based on the set reference position. The creation control includes basic processing (see FIG. 6) and update processing (see FIG. 7). In the basic process, a local map is created for each predetermined point and reflected on the environment map. The created environment map is stored in the storage unit 84. In the update process, it is determined whether or not at least one of the fence 100 and a mirror that is an example of a specular reflection surface is present, and when the presence of at least one is detected, the result is converted into an environment map created by the basic process. reflect. The control unit 80 basically updates the environment map as follows. When the detection value of the distance measurement sensor 72 is equal to or greater than the first threshold value, the control unit 80 determines that an object such as a wall exists in the detection target area, which is an actual area corresponding to the detection value, and corresponds on the environment map. Enter the information that the object exists in the area. When the detection value of the distance measurement sensor 72 is less than the first threshold value, the control unit 80 determines that the detection corresponding region, which is an actual region corresponding to the detection value, is a blank region in which no object such as a wall exists. Enter information indicating blanks in the corresponding area on the environmental map. The first threshold is set in advance by a test or the like. An example of the first threshold is a lower limit value of the detection value of the distance measurement sensor 72 when light diffusely reflected on the wall surface (diffuse reflection surface) existing in the detection target region of the upper limit value of the detection distance of the distance measurement sensor 72 is received. It is.

  FIG. 5 is an example of preparation control. In step S11, the control unit 80 causes the distance measurement sensor 72 to output light. In step S12, the control unit 80 creates a local map using the detection result of the distance measurement sensor 72, reflects the local map in the initial environment map, and uses the nearest wall among the walls included in the environment map as a reference. Set as a wall. In one example, the initial environment map is a blank map. In step S13, the control unit 80 controls the traveling unit 30 so that the position and posture of the autonomous traveling device 10 with respect to the reference wall are in the reference state. The reference state is a state in which the front-rear direction of the autonomous mobile device 10 is along the reference wall, and the distance between the side portion of the body 20 and the reference wall is a predetermined interval. In a preferred example, the predetermined interval is set so that a part of the side brush 42 contacts the reference wall when the autonomous mobile device 10 is in the reference state. In step S14, the control unit 80 sets the position where the autonomous traveling device 10 is set to the reference state as the reference position. Thereby, the preparation control is completed.

  FIG. 6 is an example of a basic process of creation control. The control unit 80 starts the basic process of creation control after completion of the preparation control. In step S21, the control unit 80 moves the autonomous mobile device 10 by a predetermined distance (hereinafter referred to as “set distance”) along the wall surface. In a preferred example, the set distance is equal to or less than the radius of the measurement range of the distance measurement sensor 72. An example of the set distance is 150 cm. When the wall surface is detected in front of the autonomous traveling device 10 before the movement distance of the autonomous traveling device 10 reaches the set distance, the control unit 80 determines that the position and orientation of the autonomous traveling device 10 with respect to the front wall surface are in the reference state. The traveling unit 30 is controlled so as to be. In addition, when the distance traveled by the distance measurement sensor 72 becomes an area for which the environmental map has been created before the travel distance of the autonomous mobile device 10 reaches the set distance, the control unit 80 determines that the environmental map has been created and the environmental map has not been created. Stops moving when positioned at the border with the region.

  In step S22, the control unit 80 causes the autonomous mobile device 10 to be held on the spot based on the fact that the autonomous mobile device 10 has moved a set distance or that the autonomous mobile device 10 is in the reference state. The traveling unit 30 is controlled. In step S23, the control unit 80 controls the distance measurement sensor 72 so that light is sequentially output to the entire measurement range. In step S24, the control unit 80 creates a local map using the detection result of the distance measuring sensor 72, and reflects the local map on the environment map. In step S25, the control unit 80 determines whether or not the position of the autonomous mobile device 10 has returned to the reference position. If the determination result of step S25 is affirmative, the control unit 80 ends the basic process. If the determination result of step S25 is negative, the control unit 80 continues the basic process. The creation control ends when the basic processing ends.

  When the autonomous traveling device 10 moves to a position where one detection target area of the obstacle detection sensor 71 includes a blank area of the environmental map created by the basic process, the control unit 80 starts the update process. The control unit 80 interrupts the basic process for a period during which the update process continues. The control unit 80 moves the autonomous mobile device 10 at a constant speed over a period during which the update process continues. The moving speed of the autonomous traveling device 10 can be arbitrarily set. An example of the moving speed of the autonomous traveling device 10 is slower than the moving speed when the autonomous traveling device 10 moves by a set distance in the basic processing.

  FIG. 7 shows an example of the update process. In step S31, the control unit 80 determines whether or not the sound wave of the obstacle detection sensor 71 has been received. When the detection value of the obstacle detection sensor 71 is equal to or greater than the second threshold value, the control unit 80 determines that the obstacle detection sensor 71 has received a sound wave. When the detection value of the obstacle detection sensor 71 is less than the second threshold value, the control unit 80 determines that the obstacle detection sensor 71 has not received a sound wave. The second threshold is preset by a test or the like. An example of the second threshold value is a lower limit value of the detection value when a sound wave reflected on the wall surface existing in the detection target region of the upper limit value of the detection distance of the obstacle detection sensor 71 is received.

  If the determination result in step S31 is affirmative, in step S32, the control unit 80 determines that the fence 100 is present in the detection target area of the obstacle detection sensor 71, and in step S41, information indicating that the fence 100 is present from information indicating a blank. Update the environmental map. The control unit 80 recognizes that the fence 100 is an object having a different property from the wall surface as a pseudo wall for prohibiting the autonomous traveling device 10 from entering, and updates the environmental map. In one example, the control unit 80 recognizes an area where the fence 100 exists as an area where the autonomous traveling device 10 is prohibited from entering. The control unit 80 sets an area where the fence 100 exists in the environment map as a mark. If the determination result in step S31 is negative, in step S33, the control unit 80 determines whether there is a blank area in the light output direction of the distance measurement sensor 72 that is substantially perpendicular to the traveling direction of the autonomous traveling device 10. Determine.

  If the determination result in step S33 is affirmative, in step S34, the control unit 80 outputs light such that the light output direction of the distance measurement sensor 72 with respect to the traveling direction of the autonomous traveling device 10 is substantially perpendicular. In step S35, the control unit 80 determines whether or not the distance measuring sensor 72 has received light. The control unit 80 determines that the distance measurement sensor 72 has received light when the detection value of the distance measurement sensor 72 is equal to or greater than the first threshold value, and determines the distance measurement when the detection value of the distance measurement sensor 72 is less than the first threshold value. It is determined that the sensor 72 is not receiving light. If the determination result in step S35 is affirmative, the control unit 80 determines in step S36 that a mirror is present in the blank area of the detection target area of the distance measurement sensor 72, and in step S42, the mirror is determined from the information indicating the blank. Update the environment map with existing information. When the determination result of step S35 is negative, in step S37, the control unit 80 determines that no object exists in the detection target area of the distance measurement sensor 72, that is, the detection target area is a blank area. In step S43, the control unit 80 does not update the information indicating the blank of the detection target area of the distance measuring sensor 72. Note that the control unit 80 may enter information indicating a blank in the environment map in step S43.

  After the process of steps S41 to S43 or when the determination result of step S33 is negative, in step S38, the control unit 80 determines whether or not the autonomous mobile device 10 has passed the blank area. If the determination result of step S38 is negative, the control unit 80 continues the update process. If the determination result of step S38 is affirmative, the control unit 80 ends the update process. The blank area in the determination in step S38 indicates a blank area of the environmental map created by the basic process immediately before executing the update process.

  After completing the update process, the control unit 80 executes the basic process again. Specifically, the control unit 80 stops the movement of the autonomous traveling device 10 at a position where the autonomous traveling device 10 has passed through the blank area of the environmental map in the basic processing, and causes the distance measurement sensor 72 to output light. The control unit 80 creates a local map based on the detection result of the distance measuring sensor 72 and reflects it on the environment map. If the local map includes a blank area, the control unit 80 executes the update process again.

  FIGS. 8-18 shows an example of the creation operation of the environmental map by the autonomous mobile device 10. 8 to 18, the wall surface indicated by a thick line among the wall surfaces W <b> 1 to W <b> 6 indicates an area of the environmental map that has been created by the map creation unit 83.

  As shown in FIG. 8, the room R to be the cleaning target region has a substantially L shape in plan view. The room R has a first wall surface W1, a second wall surface W2, a third wall surface W3, a fourth wall surface W4, a fifth wall surface W5, and a sixth wall surface W6. The first wall surface W1 faces the third wall surface W3 and the fifth wall surface W5. The second wall surface W2 faces the fourth wall surface W4 and the sixth wall surface W6. An opening connected to the hallway is provided in a part of the second wall surface W2. The corridor is connected to, for example, another room (not shown). A fence 100 is disposed in the opening. The fence 100 extends over substantially the entire width direction of the opening. An appearance mirror 110 is attached to a part of the sixth wall surface W6.

  As shown in FIG. 8, as the first operation state, the autonomous traveling device 10 sequentially outputs the light of the distance measuring sensor 72 over 360 ° as shown by a broken-line circle in the drawing when creating the environmental map. The wall surface around 10 is detected. The autonomous mobile device 10 reflects the local map in the initial environment map using the detection result of the distance measuring sensor 72, determines that the second wall surface W2 is the closest wall surface, and sets the second wall surface W2 as the reference wall. .

  As shown in FIG. 9, the autonomous mobile device 10 approaches the second wall surface W2 so as to be in the reference state with respect to the second wall surface W2 based on the detection result of the obstacle detection sensor 71 as the second operation state. After the reference state is reached, the state is maintained and the position is set as the reference position. And the autonomous traveling apparatus 10 changes direction so that the advancing direction of the autonomous traveling apparatus 10 may turn into the direction along 2nd wall surface W2 based on the detection result of the direction detection sensor 73. FIG.

  As shown in FIG. 10, as the third operation state, the autonomous mobile device 10 moves a set distance from the reference position along the second wall surface W <b> 2 and outputs the light of the distance measurement sensor 72. The control unit 80 creates a local map around the autonomous mobile device 10 from the detection result of the distance measurement sensor 72 and the detection result of the obstacle detection sensor 71, and reflects it on the environment map. In this case, in the detection target region R1 where the second wall surface W2 is present, the light of the distance measurement sensor 72 output toward the second wall surface W2 is diffusely reflected by the second wall surface W2, so that the distance measurement sensor 72 is optical. Receive. On the other hand, in the detection target region R2 where the second wall surface W2 does not exist and the fence 100 exists, the light of the distance measurement sensor 72 output toward the fence 100 passes through the fence 100, so that the distance measurement sensor 72 transmits light. Do not receive. For this reason, the autonomous mobile device 10 determines that the second wall surface W2 exists in the detection target region R1 and the detection target region R2 is a blank region. Then, the autonomous mobile device 10 enters information indicating that the second wall surface W2 exists in the area corresponding to the detection target area R1 on the environmental map, and enters information indicating blank in the area corresponding to the detection target area R2 on the environmental map. To do.

  As shown in FIG. 11, the autonomous mobile device 10 that has moved to the position facing the blank area as the fourth operation state executes the update process. Since the obstacle detection sensor 71 receives the sound wave, the autonomous mobile device 10 determines that the fence 100 exists in the detection target area R2, and the fence 100 exists from the information indicating the blank in the detection target area R2 on the environment map. Update to information.

  As illustrated in FIG. 12, the autonomous mobile device 10 that has passed through the blank area as the fifth operation state performs basic processing again. The autonomous mobile device 10 detects the third wall surface W3 forward by the obstacle detection sensor 71 and enters information indicating that the third wall surface W3 exists in a region corresponding to the detection target region on the environment map. And the autonomous traveling apparatus 10 changes the advancing direction so that it may be parallel to the 3rd wall surface W3, and moves along the 3rd wall surface W3.

  As shown in FIG. 13, the autonomous mobile device 10 moves along the third wall surface W3 and the fourth wall surface W4 as the sixth operation state. When the autonomous mobile device 10 moving along the third wall surface W3 detects the fourth wall surface W4 forward by the obstacle detection sensor 71, the movement stops and the traveling direction is parallel to the fourth wall surface W4. The direction of the autonomous mobile device 10 is changed, and the vehicle travels along the fourth wall surface W4. At this time, the autonomous mobile device 10 executes basic processing, and uses the detection result of the distance measurement sensor 72 to enter information on the presence of the remaining portion of the third wall surface W3 and the fourth wall surface W4 on the environment map. When the distance measuring sensor 72 outputs light at the position of the autonomous traveling device 10 shown in FIG. 13, light output to the traveling direction side of the autonomous traveling device 10 is not received from the fourth wall surface W4 in the detection target region. For this reason, the control unit 80 determines that the detection target area on the traveling direction side of the autonomous mobile device 10 with respect to the fourth wall surface W4 is a blank area, and shows a blank in the area corresponding to the detection target area on the environment map. Fill in the information.

  As shown in FIG. 14, the autonomous mobile device 10 that has moved to the blank area where the fourth wall surface W <b> 4 does not exist as the seventh operation state executes the update process. Since the autonomous traveling device 10 does not receive the sound wave of the obstacle detection sensor 71 and does not receive the light of the distance measuring sensor 72 output in the direction substantially perpendicular to the traveling direction, the region in the direction substantially perpendicular to the traveling direction is present. Judged as a blank area. Then, the autonomous mobile device 10 enters information indicating a blank in an area corresponding to an area in a direction substantially perpendicular to the traveling direction on the environmental map.

  As shown in FIG. 15, the autonomous mobile device 10 that has passed through the blank area of the environmental map as the eighth operation state performs basic processing again. Thereby, the autonomous mobile device 10 detects the fifth wall surface W5 and enters information on the presence of the fifth wall surface W5 on the environment map. The autonomous mobile device 10 moves along the fifth wall surface W5.

  As shown in FIG. 16, the autonomous mobile device 10 moves along the fifth wall surface W5 as the ninth operation state. At this time, the autonomous mobile device 10 detects the remaining portion of the fifth wall surface W5 and the sixth wall surface W6 by basic processing, and uses the environment map to display information on the presence of the remaining portion of the fifth wall surface W5 and the sixth wall surface W6. Fill out. The autonomous traveling device 10 shown in FIG. 16 outputs the light of the distance measuring sensor 72. In this case, as shown in FIG. 16, the autonomous mobile device 10 determines that the detection target area that does not receive light is a blank area because the distance measurement sensor 72 does not receive light in a part of the detection target area. . Then, the autonomous mobile device 10 enters information indicating a blank in an area corresponding to the detection target area on the environment map.

  As shown in FIG. 17, the autonomous mobile device 10 that has moved to a position facing the blank area of the environmental map as the tenth operation state is such that the angle with respect to the traveling direction of the autonomous mobile device 10 is substantially perpendicular in the update process. The light from the measurement sensor 72 is output. In this case, since the autonomous mobile device 10 receives the light of the distance measuring sensor 72, the detection target region on the environmental map is updated from information indicating blank to information including the mirror 110. Then, when the autonomous mobile device 10 passes through the blank area of the environmental map, the basic processing is executed again.

  As shown in FIG. 18, as the eleventh operation state, the autonomous mobile device 10 sequentially moves along the sixth wall surface W6 and the first wall surface W1 and returns to the reference position. At this time, the autonomous mobile device 10 detects the remaining portion of the sixth wall surface W6 and the first wall surface W1, and enters the remaining portion of the sixth wall surface W6 and the first wall surface W1 on the environment map. Then, the autonomous mobile device 10 ends the basic process when it returns to the reference position.

With reference to FIG. 19 and FIG. 20, the cleaning operation by the autonomous mobile device 10 will be described.
The control unit 80 drives the autonomous traveling device 10 along the traveling route (see the two-dot chain line in FIG. 19) set based on the environment map after creating the environment map, and drives the cleaning unit 40 and the suction unit 50. Thereby, the autonomous mobile device 10 cleans the floor surface of the area to be cleaned. FIG. 19 shows a state in which, for example, the user removes the fence 100 (see FIG. 18) before the autonomous mobile device 10 performs the cleaning operation.

  When the autonomous traveling device 10 moves along the second wall surface W2, the autonomous traveling device 10 maintains the reference state with respect to the second wall surface W2 based on the detection result of the obstacle detection sensor 71. When the autonomous mobile device 10 moves to the region R3 where the fence 100 was present, the obstacle detection sensor 71 does not receive the sound wave, so the control unit 80 determines that the environmental map is different from the actual environment. . In this case, the control unit 80 does not update the environmental map, and executes a holding process for maintaining the area where the fence 100 exists in the environmental map. In the holding process, the procedure shown in FIG. 20 is repeatedly executed at predetermined time intervals during the period when the autonomous traveling device 10 cleans the environment map.

  FIG. 20 shows an example of the holding process. In step S51, the control unit 80 determines whether or not the environment map includes an area where the fence 100 exists. If the determination result of step S51 is negative, the control unit 80 ends the holding process. When the determination result of step S51 is affirmative, in step S52, the control unit 80 determines whether or not the region where the fence 100 exists is included in the detection target region by the obstacle detection sensor 71.

  If the determination result of step S52 is negative, the control unit 80 ends the holding process. If the determination result of step S52 is affirmative, in step S53, the control unit 80 determines whether or not the obstacle detection sensor 71 has received a sound wave.

  When the determination result of step S53 is positive, the control unit 80 moves the autonomous traveling device 10 along the fence 100 in step S54. The control unit 80 moves the autonomous traveling device 10 based on the sound wave received by the obstacle detection sensor 71 so that the autonomous traveling device 10 maintains the reference state with respect to the fence 100.

  If the determination result in step S53 is negative, the control unit 80 retains information on the presence of the fence 100 in step S55. In other words, the control unit 80 does not update the information on which the fence 100 exists to information indicating a blank. In step S56, the control unit 80 moves the autonomous mobile device 10 along the fence 100 in the environmental map.

The operation of the embodiment will be described.
In some cases, it is necessary to artificially set a partially opened special area as an area to be cleaned and clean it by an autonomous traveling device. An example of a special area is a room where no door is installed at the entrance. Examples of the method for setting the special area as the cleaning target area include the following first and second methods. The first method is a method of creating an environment map of a closed area including a special area using an autonomous mobile device, and editing the environment map so that the special area in the created environment map is closed. The second method is to install an ordinary fence, an optical fence, or a magnetic fence on an open part in a special area so that the open part is physically, optically, or magnetically. It is a method of closing and allowing the autonomous traveling device to clean the special area in that state. An example of an optical fence is an infrared output device. An example of a magnetic fence is magnetic tape.

  The autonomous traveling device 10 creates an environmental map by identifying structures such as walls and the fence 100, and information corresponding to the fence 100 on the environmental map even when the fence 100 is not detected during cleaning using the environmental map. And continue cleaning according to the environmental map. For this reason, even when the fence 100 is removed during the cleaning of the autonomous mobile device 10, the autonomous mobile device 10 cleans only the special area. Thus, according to the autonomous traveling unit 1, since it is not required to maintain the state in which the fence 100 is installed during the cleaning of the autonomous traveling device 10, convenience is enhanced.

(Modification)
The description relating to the embodiment is an exemplification of a form that can be taken by the environment map creation device and the like according to the present invention, and is not intended to limit the form. In addition to the embodiment, the environment map creation device or the like according to the present invention may take a form in which, for example, a modification of the embodiment shown below and a combination of at least two modifications not contradicting each other are combined.

  In the embodiment, the method for creating the local map from the information obtained in a state where the autonomous traveling device 10 is stopped is exemplified as the method for creating the environmental map by the autonomous traveling device 10, but the autonomous traveling device 10 moves. It is also possible to create a local map from the acquired information. In this case, the moving speed of the autonomous traveling device 10 can be arbitrarily set. In one example, this moving speed is slower than the moving speed when the autonomous traveling device 10 moves by a set distance in the embodiment.

  The control unit 80 may add a determination as to whether or not the detection value of the distance measurement sensor 72 is equal to or greater than the third threshold regarding the determination of whether or not the blank area in the update process is a mirror after the determination in step S35. The third threshold is a value for determining whether or not the detection target region includes a mirror, and is set in advance by a test or the like. The third threshold value is larger than the first threshold value. The control unit 80 determines that there is a mirror in the detection target area when the detection value of the distance measurement sensor 72 is equal to or greater than the third threshold value, and determines that the detection value of the distance measurement sensor 72 is less than the third threshold value (the detection value is the first threshold value). It is determined that there is a wall surface (diffuse reflection surface) in the detection target region when the threshold value is 1 threshold or more and less than the third threshold. Then, the control unit 80 reflects these information on the environment map. Thereby, when it is determined that there is a wall surface in which the blank area is not a blank area in the update process, the property of the wall surface can be more accurately determined. Therefore, an environmental map can be created more accurately.

  In the embodiment, the method of detecting the fence 100 by the distance measuring sensor 72 using the light transmitting material 103 is exemplified, but the distance measurement is performed even when the light transmitting material 103 (see FIG. 3) is not included in the fence 100. The fence 100 can be detected by the sensor 72. One example thereof is a method using a fence 100 (hereinafter referred to as “variant fence 100”) lower than the height of the autonomous mobile device 10, as shown in FIG. The fence 100 according to the modified example can take any form of a first form that does not include the light transmissive material 103 and a second form that includes the light transmissive material 103. In the first embodiment, the portion corresponding to the light transmitting material 103 is made of a material that does not have translucency. An example of the second form is the same as the fence 100 of the embodiment. When the autonomous traveling device 10 and the modified fence 100 are installed on the same floor surface, the distance measurement sensor 72 is positioned higher than the fence 100. Since the light output from the distance measurement sensor 72 does not pass through the wall 102 of the fence 100, the distance measurement sensor 72 does not detect the fence 100 even when the fence 100 exists in the detection target area of the distance measurement sensor 72. When the fence 100 exists in the detection target area of the obstacle detection sensor 71, the sound wave output from the distance measurement sensor 72 is reflected by the fence 100. For this reason, the obstacle detection sensor 71 can detect the fence 100. The control unit 80 determines that the object detected by the obstacle detection sensor 71 is the fence 100 when the detection result of the distance measurement sensor 72 is object non-detection and the detection result of the obstacle detection sensor 71 is object detection, Information indicating that the fence 100 exists in the corresponding area on the environmental map is entered.

  In the embodiment, the obstacle detection sensor 71 using sound waves is illustrated as an example of the second detection unit. However, the second detection unit may detect an object by a method other than sound waves. In one example, the second detection unit may be a bumper contact type switch provided on the body 20. The control unit 80 detects the object by pressing the bumper when the bumper contacts the object and turning on the switch. When the switch is used for the second detection unit, the fence 100 according to the above modification may be used. In this case, the fence 100 according to the modified example can contact the switch.

  The present invention can be applied to autonomous traveling devices such as autonomous traveling cleaners and autonomous traveling transport devices used in various environments, including home or business autonomous traveling cleaners.

10: Autonomous traveling device 40: Cleaning unit 71: Obstacle detection sensor (second detection unit)
72: Distance measuring sensor (first detection unit)
83: Map creation unit 110: Mirror (mirror reflection surface)

Claims (5)

An autonomous traveling device including a map creation unit that creates an environmental map using a detection result of a first detection unit that outputs and receives light,
The map creation unit is configured to detect the detection value of the first detection unit in a state in which a light output direction of the first detection unit is substantially perpendicular to a traveling direction of the autonomous traveling device in a plan view of the autonomous traveling device. The autonomous traveling device that determines that the specular reflection surface is present in the detection target region when is greater than or equal to the first threshold. In the planar view of the autonomous mobile device, the map creation unit is configured to display the first detection unit when the traveling direction and the output direction are not substantially perpendicular, and when the detection value of the first detection unit is less than the first threshold. The autonomous traveling device according to claim 1, wherein the detection target area of the detection unit is determined to be a blank area or a specular reflection surface. The map creation unit creates the environmental map using the detection result of the first detection unit and the detection result of the second detection unit that outputs and receives sound waves, and the detection value of the first detection unit is The detection target region that is common to the first detection unit and the second detection unit is determined to be a blank region when the detection value of the second detection unit is less than a second threshold value and less than a first threshold value. 2. The autonomous traveling device according to 2. The map creation unit has a detection value of the first detection unit equal to or greater than a third threshold value greater than a first threshold value in a state in which the traveling direction and the output direction are substantially perpendicular to each other in plan view of the autonomous mobile device. 2. It is determined that the specular reflection surface is present in the detection target region, and it is determined that a diffuse reflection surface is present in the detection target region when the detection target region is greater than or equal to the first threshold value and less than the third threshold value. Autonomous traveling device. The autonomous traveling device according to any one of claims 1 to 4, further comprising a cleaning unit.

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